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<div class="title">EncoderMotorController.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Have include guard.</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#ifndef FPK_ENCODERMOTORCONTROLLER_HPP</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define FPK_ENCODERMOTORCONTROLLER_HPP</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Include files.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;boost/smart_ptr/shared_ptr.hpp&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;WPILib.h&quot;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;PidMotorController.hpp&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div>
<div class="line"><a name="l00013"></a><span class="lineno"><a class="code" href="class_encoder_motor_controller.html">   13</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_encoder_motor_controller.html">EncoderMotorController</a> :</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;        <span class="keyword">public</span> <a class="code" href="class_pid_motor_controller.html">PidMotorController</a>, <span class="keyword">public</span> LiveWindowSendable</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;{</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;                <a class="code" href="class_encoder_motor_controller.html">EncoderMotorController</a>(boost::shared_ptr&lt;SpeedController&gt; motor, boost::shared_ptr&lt;Encoder&gt; encoder, <span class="keywordtype">float</span> period = 0.05);</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;                <a class="code" href="class_encoder_motor_controller.html">EncoderMotorController</a>(boost::shared_ptr&lt;SpeedController&gt; motor, UINT32 encoderChannelA, UINT32 encoderChannelB, <span class="keywordtype">bool</span> encoderReverseDirection = <span class="keyword">false</span>, <span class="keywordtype">float</span> period = 0.05);</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;                <a class="code" href="class_encoder_motor_controller.html">EncoderMotorController</a>(SpeedController *motor, Encoder *encoder, <span class="keywordtype">float</span> period = 0.05);</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;                <a class="code" href="class_encoder_motor_controller.html">EncoderMotorController</a>(SpeedController *motor, UINT32 encoderChannelA, UINT32 encoderChannelB, <span class="keywordtype">bool</span> encoderReverseDirection = <span class="keyword">false</span>, <span class="keywordtype">float</span> period = 0.05);</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;                <a class="code" href="class_encoder_motor_controller.html">EncoderMotorController</a>(SpeedController &amp;motor, Encoder &amp;encoder, <span class="keywordtype">float</span> period = 0.05);</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;                <a class="code" href="class_encoder_motor_controller.html">EncoderMotorController</a>(SpeedController &amp;motor, UINT32 encoderChannelA, UINT32 encoderChannelB, <span class="keywordtype">bool</span> encoderReverseDirection = <span class="keyword">false</span>, <span class="keywordtype">float</span> period = 0.05);</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;                </div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_encoder_motor_controller.html#a9178f02fb11f9483f58b2e183855df90">Set</a>(<span class="keywordtype">float</span> value, UINT8 syncGroup = 0);</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">float</span> <a class="code" href="class_encoder_motor_controller.html#a249e6853027a2634373fe85bac1eaa1d">Get</a>();</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;                </div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="class_encoder_motor_controller.html#af68232d15fd9e415029fa288445c687d">GetVBus</a>();</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="class_encoder_motor_controller.html#ab1190239ea19ba8cca90ba0b973a3f93">GetSpeed</a>();</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="class_encoder_motor_controller.html#a07f26eb55451d40facae57c603f15283">GetPosition</a>();</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_encoder_motor_controller.html#a03960c90c7f38d94d8e7b5234d6edd80">Enable</a>(<span class="keywordtype">double</span> initialEncoderPosition);</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_encoder_motor_controller.html#a0f29b77718fb150f484aef04f55bf158">Disable</a>();</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;                <span class="keyword">virtual</span> <a class="code" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">ControlMode</a> <a class="code" href="class_encoder_motor_controller.html#a03f8200c4067751112ffcf3f31885a05">GetControlMode</a>();</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_encoder_motor_controller.html#a070daf843ba72f0bc8fca42a00557c85">SetControlMode</a>(<a class="code" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">ControlMode</a> mode);</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_encoder_motor_controller.html#a9c58bd48fb4d416ab132b3ae35367e11">SetEncodersCodesPerRevolution</a>(UINT16 codesPerRevolution);</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_encoder_motor_controller.html#a38618c4eac712a8a99eb1af4052b7bd9">SetPid</a>(<span class="keywordtype">double</span> p, <span class="keywordtype">double</span> i, <span class="keywordtype">double</span> d);</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="class_encoder_motor_controller.html#a5d0475632150b2f5ee7dbea449b45092">GetP</a>();</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="class_encoder_motor_controller.html#ab64a776dde1897091083c712c5686ade">GetI</a>();</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="class_encoder_motor_controller.html#adb711b35bdef286ebf5ad94ccae4ffc6">GetD</a>();</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;                </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_encoder_motor_controller.html#a01614b9738f296c3b8a93e04828ad4da">InitTable</a>(ITable* subtable);</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;                <span class="keyword">virtual</span> ITable* <a class="code" href="class_encoder_motor_controller.html#ab16237b1f4a3e49cc725f7670b5f8329">GetTable</a>();</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;                <span class="keyword">virtual</span> std::string <a class="code" href="class_encoder_motor_controller.html#ab79480abdc49326005cfe97954ee1c2a">GetSmartDashboardType</a>();</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;                </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_encoder_motor_controller.html#a619fe4b5c3a9c30bcbcabfdd56b5b5cb">UpdateTable</a>();</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_encoder_motor_controller.html#adaffe3e473477714456979687b5d49ba">StartLiveWindowMode</a>();</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_encoder_motor_controller.html#ab5f44b0310a5ed2590daa646b70843f4">StopLiveWindowMode</a>();</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <span class="keyword">private</span>:</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;                <span class="keyword">typedef</span> double(*PidSourceFunction)(<a class="code" href="class_encoder_motor_controller.html">EncoderMotorController</a> *motor);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;                <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code" href="class_encoder_motor_controller.html#af68232d15fd9e415029fa288445c687d">GetVBus</a>(<a class="code" href="class_encoder_motor_controller.html">EncoderMotorController</a> *motor);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code" href="class_encoder_motor_controller.html#ab1190239ea19ba8cca90ba0b973a3f93">GetSpeed</a>(<a class="code" href="class_encoder_motor_controller.html">EncoderMotorController</a> *motor);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code" href="class_encoder_motor_controller.html#a07f26eb55451d40facae57c603f15283">GetPosition</a>(<a class="code" href="class_encoder_motor_controller.html">EncoderMotorController</a> *motor);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;                <span class="keyword">static</span> <span class="keywordtype">void</span> ResetTimer(<span class="keywordtype">void</span> *pseudoCanJaguar);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;                </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                boost::shared_ptr&lt;SpeedController&gt; m_motor;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                boost::shared_ptr&lt;Encoder&gt; m_encoder;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                <span class="keywordtype">float</span> m_period;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;                Notifier m_notifier;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;                PIDController m_pid;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;                Timer m_timer;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;                <span class="keywordtype">double</span> m_speed;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;                <span class="keywordtype">double</span> m_offset;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;                <a class="code" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">ControlMode</a> m_controlMode;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                PidSourceFunction m_sourceFunction;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                <span class="keywordtype">void</span> Initialize();</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;};</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="preprocessor">#endif // #ifndef FPK_ENCODERMOTORCONTROLLER_HPP</span></div>
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